CN220551002U - Electric box door structure and robot - Google Patents

Abstract

The utility model relates to the field of robots, and discloses an electric box door structure and a robot. An electric cabinet door structure includes: the box body main support, the box body door and the driving mechanism arranged on the box body main support; the driving mechanism comprises a driving piece, a door shaft, a driving rod and a position detection assembly; the door shaft is rotatably arranged on the main bracket of the box body, and the driving piece is in transmission connection with the door shaft; one end of the driving rod is fixed relative to the door shaft, and the other end of the driving rod is connected with the box door in a rotating way; the driving piece is used for driving the door shaft to rotate and driving the box door to rotate through a driving rod connected with the door shaft; the position detection assembly is used for detecting the rotation angle of the door shaft. The electric box door structure reduces the assembly influence of tolerance accumulation associated with a plurality of components on the box door, reduces the position error, is more beneficial to accurately controlling the opening and closing of the door, makes the door be tighter, and reduces the generation of door gaps.

Description

Electric box door structure and robot

Technical Field

The utility model relates to the technical field of robots, in particular to an electric box door structure and a robot.

Background

The box door of the existing robot has the problem that the opening and closing of the door are not well controlled, and the problem that larger door gaps are easily generated or the door gaps are uneven is easily caused.

Disclosure of Invention

The utility model discloses an electric box door structure and a robot, which are convenient for controlling door gaps and opening and closing doors.

In order to achieve the above purpose, the present utility model provides the following technical solutions:

in a first aspect, the present utility model provides an electrically powered bin gate structure comprising: the box body main support, the box body door and the driving mechanism arranged on the box body main support;

the driving mechanism comprises a driving piece, a door shaft, a driving rod and a position detection assembly;

the door shaft is rotatably arranged on the main box bracket, and the driving piece is in transmission connection with the door shaft; one end of the driving rod is fixed relative to the door shaft, and the other end of the driving rod is connected with the box door in a rotating way; the driving piece is used for driving the door shaft to rotate and driving the box door to rotate through the driving rod connected with the door shaft;

the position detection assembly is used for detecting the rotation angle of the door shaft.

In the electric box door structure, all parts of the driving mechanism for driving the box door to rotate are arranged on the box main bracket, so that the assembly influence of tolerance accumulation associated with a plurality of parts on the box door is reduced; the position detection assembly for detecting the opening and closing states of the box door detects the door shaft in the driving mechanism, and detects the rotation angle of the door shaft to determine the opening and closing states of the box door, so that position errors are reduced, accurate control of opening and closing of the door is facilitated, the door is closed more tightly, and door gap generation is reduced.

In some embodiments, the position detection assembly includes a position detection tab mounted on the output shaft of the drive member and a position detector mated with the position detection tab.

In some embodiments, the drive member is drivingly connected to the door shaft by a flexible connector.

In some embodiments, the output shaft of the driving member, the flexible connector and the position detecting piece are all provided with flat structures, and positions of the flexible connector and the flat structures on the position detecting piece correspond to positions of the flat structures on the output shaft of the driving member.

In some embodiments, the drive rod is fixed with a middle portion of the door shaft; and/or the number of the groups of groups,

the driving rod is connected with the box door through a first fixed adapter, and a bearing used for being rotationally connected with the first fixed adapter is arranged on the driving rod.

In some embodiments, the electric box door structure further comprises a box deck mounted to the box main bracket, the box deck comprising a first deck and a second deck disposed in parallel and spaced apart relationship, the door shaft being positioned between the first deck and the second deck;

the driving piece is connected with the box body main bracket and the first laminate through a fixed bracket; and/or the number of the groups of groups,

the driving piece is connected with the box body main support and the second layer plate through the fixing support.

In some embodiments, the number of the box doors is the same as the number of the driving mechanisms, and the box doors are arranged in one-to-one correspondence with the driving mechanisms.

In some embodiments, the case ply further comprises a third ply, and the third ply is located between the first ply and the second ply;

the door shaft is positioned in the door shaft between the first layer plate and the third layer plate, the door shaft is connected with the main box bracket and the third layer plate through the door shaft tail end fixing piece, and the door shaft is rotationally connected with the door shaft tail end fixing piece through a bearing;

the door shaft is positioned in the door shaft between the third layer plate and the second layer plate, the door shaft is connected with the box body main support and the third layer plate through the door shaft tail end fixing piece, and the door shaft is rotatably connected with the door shaft tail end fixing piece through a bearing.

In some embodiments, when one of the driving mechanisms corresponds to at least two of the case doors, the at least two case doors are aligned along an axis direction of the door shaft;

the box layer plate further comprises a third layer plate, and the third layer plate is positioned between the first layer plate and the second layer plate;

and the door shaft penetrates through the third layer plate and is in rotary connection with the third layer plate.

In some embodiments, the driving mechanism further comprises a driven rod, one end of the driven rod is rotatably connected with the box door when the driving piece is mounted on the first laminate, and the other end of the driven rod is rotatably connected with the first laminate; when the driving piece is installed on the second layer plate, one end of the driven rod is rotatably connected with the box door, and the other end of the driven rod is rotatably connected with the second layer plate.

In some embodiments, the driven rod is provided with bearings at both ends.

In a second aspect, the present utility model also provides a robot comprising a power box door structure as claimed in any one of the first aspects.

Drawings

Fig. 1 is a three-dimensional perspective view of an electric box door structure according to an embodiment of the present utility model;

FIG. 2 is an enlarged view of FIG. 1 at A;

fig. 3 to 7 are assembly diagrams of a case door and a driving mechanism in an electric case door structure according to an embodiment of the present utility model;

FIG. 8a is a schematic view of a flat structure on the output shaft of the driving member;

FIG. 8b is a schematic diagram of a flat structure on a position detecting chip;

FIG. 8c is a schematic view of a flat structure on a flexible connector;

fig. 9 to 15 are schematic structural views of an electric box door structure in which a box door is in an open state;

fig. 16-22 are schematic views of a structure of a door of an electric box according to an embodiment of the present utility model, where the door is in a closed state.

Icon: 200-a box door; 110-a main box bracket; 120-a housing; 130-a first laminate; 140-a second laminate; 150-a third laminate; 310-driving member; 310 a-an output shaft; 320-door spindle; 330-driving rod; 340 a position detection component; 350-a flexible connector; 360-follower lever; 370-a stop assembly; 311-fixing a bracket; 321-door spindle end fixing piece; 331-first fixed adapter; 341-a position detection sheet; 342-a position detector; 361-a second fixed adapter; 371-first stopper; 372-second stopper.

Detailed Description

The following description of the embodiments of the present utility model will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present utility model, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.

In a first aspect, as shown in fig. 1 to 7, an embodiment of the present utility model provides an electric cabinet door structure, including: a housing main frame 110, a housing door 200, and a driving mechanism mounted to the housing main frame 110; the drive mechanism includes a drive 310, a door spindle 320, a drive rod 330, and a position detection assembly 340; the door shaft 320 is rotatably installed on the main box bracket 110, and the driving piece 310 is in transmission connection with the door shaft 320; one end of the driving rod 330 is relatively fixed with the door shaft 320, and the other end is rotatably connected with the case door 200; the driving piece 310 is used for driving the door shaft 320 to rotate and driving the box door 200 to rotate through a driving rod 330 connected with the door shaft 320; the position detecting assembly 340 is used to detect the rotation angle of the door shaft 320.

In the above-mentioned electric box door structure, each component of the driving mechanism for driving the box door 200 to rotate is mounted on the box main bracket 110, so as to reduce the assembly influence of tolerance accumulation associated with a plurality of components on the box door 200; the driving piece 310 can be, but not limited to, a motor, an output shaft of the motor is in transmission connection with the door shaft 320, the driving rod 330 is positioned on the door shaft 320 and directly drives the box door 200 to rotate, so that the door and the gap can be controlled better; the position detecting assembly 340 for detecting the opening and closing states of the box door 200 detects the door shaft 320 in the driving mechanism, and detects the rotation angle of the door shaft 320 to determine the opening and closing states of the box door 200, so that the position error is reduced, the accurate control of opening and closing the door is facilitated, the door is closed more tightly, and the generation of door gaps is reduced.

In some embodiments, the position detection assembly 340 includes a position detection tab 341 and a position detector 342 mated with the position detection tab 341, the position detection tab 341 being mounted on the output shaft of the drive 310.

In one possible implementation, the driving member 310 and the position detectors 342 are fixed to the main housing 110, and referring to fig. 4 and 7, the two position detectors 342 are fixed at simulated maximum door opening and door closing positions. The position detecting piece 341 is mounted to the output shaft of the driving member 310. When the driving member 310, such as a motor, rotates clockwise or counterclockwise, the position detecting piece 341 is driven to rotate, when the motor rotates to a certain angle, the position detector 342 is triggered, the motor stops running, and the door is opened to the maximum or closed and locked correspondingly. Illustratively, the motor is stopped when the position detector 342 at the maximum door opening position detects the position detecting piece 341, the case door 200 is positioned at the maximum door opening position with respect to the main bracket, and the motor is stopped when the position detector 342 at the door closing position detects the position detecting piece 341, and the case door 200 is positioned at the door closing position with respect to the main bracket. Compared with the prior art, the position detection piece 341 is directly associated with the output shaft of the driving piece 310 such as a motor, so that position errors are reduced, the door opening and closing can be controlled more accurately, the door closing is enabled to be tighter, and the generation of door gaps is reduced.

It is understood that the position detector 342 may be an optoelectronic switch structure, or may be a tact switch, a hall sensor, a magnetic braid, an optical braid, or the like.

In some embodiments, the drive 310 is drivingly connected to the door spindle 320 via a flexible connector 350.

In one possible implementation, with continued reference to FIG. 4, the driver 310 is drivingly connected to the door spindle 320 via a flexible connector 350, and the position detecting tab 341 is located between the driver 310 and the flexible connector 350. The flexible connector 350 has a flexible spring in the middle, so that two shafts with different concentricity can be connected together, and the concentricity problem in the assembly process is absorbed. And the flexible connector 350 is adopted to connect the door shaft 320, so that the assembly is simple, the door shaft 320 can be locked by only one screw at two ends, and the fine adjustment of the assembled structure is facilitated. The axial bore of the flexible connector 350 is provided with a depth to absorb tolerances of the case door 200 up and down. Meanwhile, when the problem of gaps or loose door closing occurs, the door can be better adjusted by loosening the fixing screw of the flexible connector 350, finely adjusting the angle or the height of the lower door and then locking.

It will be appreciated that the flexible connector 350 may be a coupling or other such device that connects two shafts to accommodate a certain non-concentricity.

In some embodiments, the output shaft of the driving member 310, the flexible connector 350 and the position detecting piece 341 are all provided with flat structures, and the positions of the flat structures on the flexible connector 350 and the position detecting piece 341 correspond to the positions of the flat structures on the output shaft of the driving member 310.

In one possible implementation, as shown in fig. 8 a-8C, the end of the output shaft 310a of the driver 310 has a flat structure C. The position detecting piece 341 is provided with a flat structure D, such as a flat hole, which is matched with the flat structure C, and the flexible connector 350 is provided with a flat structure E, such as a flat hole, which is matched with the flat structure C. During installation, the flat structure C of the output shaft 310a penetrates through the flat structure D on the position detecting piece 341 and is matched with the flat structure E on the flexible connector 350, such as plugging, so as to realize transmission connection between the driving piece 310 and the position detecting piece 341 as well as between the driving piece and the flexible connector 350. It should be noted that fig. 8a to 8c are only for illustrating the flat structure, and thus the output shaft 310a, the position detecting piece 341, and other structures on the flexible connector 350 are not illustrated. It can be appreciated that the output shaft of the driving member 310, the flexible connector 350 and the position detecting member 341 are all provided with flat structures, and the position information of the output shaft and the flexible connector 350 are consistent with the position of the output shaft, so that the driving member 310 can drive the position detecting member 341 and the flexible connector 350 to rotate synchronously, so as to ensure the accuracy of the position detecting assembly 340.

In some embodiments, the drive rod 330 is fixed with the middle of the door shaft 320.

In one possible implementation, the driving rod 330 is fixed at the middle part of the door shaft 320, that is, the middle part of the box door 200, so that the influence of cantilever deformation and door deformation caused by uneven stress is reduced, and the uniformity of gaps is further facilitated.

In some embodiments, the driving lever 330 is connected with the case door 200 through the first fixed adaptor 331, and a bearing for rotational connection with the first fixed adaptor 331 is provided on the driving lever 330.

In a possible implementation, referring to fig. 4 to 7, the driving lever 330 is connected to the cabinet door 200 through the first fixing adaptor 331, the driving lever 330 has a bearing built therein, so that the cabinet door 200 and the driving lever 330 rotate smoothly, and the driving lever 330 is fixed to the door shaft 320.

In some embodiments, the power box door structure further includes a box deck mounted to the box main bracket 110, the box deck including a first deck 130 and a second deck 140 disposed in parallel and spaced apart relation, the door shaft 320 being positioned between the first deck 130 and the second deck 140; the driving member 310 connects the case main support 110 and the first laminate 130 through the fixing support 311; and/or, the driving member 310 connects the case main support 110 and the second laminate 140 through the fixing support 311.

In one possible implementation, referring to fig. 9-15, the power door structure further includes a case laminate fixed to the case main support 110 and a housing 120, the housing 120 is fixedly locked to the case main support 110 and the case laminate, and the driving assembly is mounted to the case main support 110 and the case laminate. The box main support 110 can support the whole box structure, ensures the box strength, connects each laminate in the box laminate simultaneously, ensures the uniformity of laminate spacing, and fixes the driving mechanism, reduces the assembly influence of tolerance accumulation associated with a plurality of components on the box door 200, and is beneficial to ensuring the concentricity of the door shaft 320 up and down and the uniformity of the door closing gap.

The case laminate includes a first laminate 130 and a second laminate 140, where the first laminate 130 and the second laminate 140 are both mounted on the case main support 110, and in one possible implementation, the driving element 310 is mounted on the case main support 110 through a fixing support 311, and the fixing support 311 is further connected to the first laminate 130, and the driving element 310 is located on a side of the first laminate 130 facing away from the second laminate 140. In another possible implementation manner, the driving member 310 is mounted to the main housing bracket 110 through the fixing bracket 311, and the fixing bracket 311 is further connected to the second layer 140, and the driving member 310 is located on a side of the second layer 140 facing away from the first layer 130. In another possible implementation manner, as shown in fig. 9, a plurality of driving members 310 are provided, some driving members 310 are mounted on the main box bracket 110 through fixing brackets 311, the fixing brackets 311 are also connected with the first laminate 130, and the driving members 310 are located on one side of the first laminate 130 away from the second laminate 140; the driving piece 310 is mounted on the main box bracket 110 through the fixing bracket 311, the fixing bracket 311 is also connected with the second layer plate 140, and the driving piece 310 is positioned on one side of the second layer plate 140 away from the first layer plate 130.

In some embodiments, the number of the case doors 200 is the same as the number of the driving mechanisms, and the case doors 200 are disposed in one-to-one correspondence with the driving mechanisms.

In a possible implementation manner, referring to fig. 9 and 10, the electric box door structure is provided with four box doors 200, the number of driving mechanisms is the same as that of the box doors 200, the box doors 200 are arranged in a one-to-one correspondence with the driving mechanisms, one door shaft 320 can drive only one box door 200 to rotate, and different driving mechanisms do not affect each other, when one box door 200 is closed, the other box doors 200 can be controlled to be opened or closed.

In some embodiments, the case laminate further includes a third laminate 150, and the third laminate 150 is located between the first laminate 130 and the second laminate 140; in the door shaft 320 between the first and third deck 130 and 150, the door shaft 320 is connected to the case main support 110 and the third deck 150 through the door shaft end fixing member 321, and the door shaft 320 is rotatably connected to the door shaft end fixing member 321 through a bearing; in the door shaft 320 between the third deck 150 and the second deck 140, the door shaft 320 is connected to the case main support 110 and the third deck 150 through the door shaft end fixing member 321, and the door shaft 320 is rotatably connected to the door shaft end fixing member 321 through a bearing.

In one possible implementation, referring to fig. 9-15, the case laminate includes a first laminate 130, a second laminate 140, and a third laminate 150. The first, second and third laminates 130, 140 and 150 are each fixed to the case main support 110, and the third laminate 150 is located between the first and second laminates 130 and 140. One box door 200 and its corresponding driving mechanism are defined as a set of box door sets, two box door sets are provided between the first layer 130 and the third layer 150, the upper left box door set is denoted as a first box door set in fig. 10, two box door sets are provided between the third layer 150 and the second layer 140, and the lower left box door set is denoted as a second box door set in fig. 10. The driving member 310 in the first door set of the case is located at a side of the first deck 130 facing away from the third deck 150, the door shaft 320 is located between the first deck 130 and the third deck 150, a first end of the door shaft 320 is connected with the driving member 310 through the flexible connector 350, and a second end of the door shaft 320 is connected with the third deck 150 through the door shaft end fixing member 321. The inside of the door shaft end fixing member 321 is provided with a bearing, so that smooth rotation of the door shaft 320 is ensured. The door shaft 320 is rotatably coupled to the door shaft end fixing member 321 by a bearing. The driving member 310 in the second door set of the case is located at a side of the second deck 140 facing away from the third deck 150, the door shaft 320 is located between the second deck 140 and the third deck 150, the first end of the door shaft 320 is connected with the driving member 310 through the flexible connector 350, and the second end of the door shaft 320 is connected with the third deck 150 through the door shaft end fixing member 321. Bearings are also arranged in the door shaft end fixing pieces 321, so that smooth rotation of the door shaft 320 is ensured. The door shaft 320 axis in the first case door set coincides with the door shaft 320 axis in the second case door set. When the door shaft end fixing member 321 is mounted on the third layer plate 150, the box door set with the door shaft 320 is inserted into the bearing of the door shaft end fixing member 321, and as shown in fig. 3 and 4, one end of the door shaft 320 facing away from the driving member 310 has a step (at B in fig. 3 or 4), and the driving member 310 with the flexible connector 350 is inserted into the other end of the door shaft 320 from the top down to lock the driving member 310.

In some embodiments, when one driving mechanism corresponds to at least two case doors 200, at least two case doors 200 are aligned along the axial direction of the door shaft 320; the case laminate further includes a third laminate 150, and the third laminate 150 is located between the first laminate 130 and the second laminate 140; in one driving mechanism and a plurality of corresponding case doors 200, the third layer 150 is located between any two adjacent case doors 200, and the door shaft 320 penetrates the third layer 150 and is rotatably connected to the third layer 150.

In one possible implementation, the case laminate includes a first laminate 130, a second laminate 140, and a third laminate 150. The first, second and third laminates 130, 140 and 150 are each fixed to the case main support 110, and the third laminate 150 is located between the first and second laminates 130 and 140. A driving mechanism may correspond to a plurality of the case doors 200, for example, a door shaft 320 may drive two case doors 200 on the same side to rotate synchronously, and the door shaft 320 penetrates the third layer board 150. Illustratively, the third layer plate 150 is provided with a door shaft 320 fixing member, and a bearing is disposed in the door shaft 320 fixing member to ensure smooth rotation of the door shaft 320.

It can be appreciated that in the process of using the electric box door structure provided in this embodiment, when the box door 200 needs to be opened, the driving member 310 is controlled to drive the flexible connector 350 to rotate, and because the flexible connector 350 is in transmission connection with the door shaft 320, the door shaft 320 can be driven to rotate, and the door shaft 320 can drive the driving rod 330 to move during rotation, so that the driving rod 330 drives the box door 200 to be opened or closed. As shown in fig. 9-22.

In some embodiments, the driving mechanism further includes a driven lever 360, and when the driving member 310 is mounted to the first laminate 130, one end of the driven lever 360 is rotatably connected to the case door 200, and the other end is rotatably connected to the first laminate 130; when the driving member 310 is mounted to the second deck 140, one end of the driven lever 360 is rotatably coupled to the cabinet door 200, and the other end is rotatably coupled to the second deck 140.

In a possible implementation manner, referring to fig. 9 and fig. 10, one box door 200 and the driving mechanism corresponding thereto are continuously defined as one box door set, two box door sets are provided between the first layer 130 and the third layer 150, an upper left box door set is denoted as a first box door set in fig. 10, two box door sets are provided between the third layer 150 and the second layer 140, and a lower left box door set is denoted as a second box door set in fig. 10. The driving member 310 of the first door set is located at a side of the first deck 130 facing away from the third deck 150, the door shaft 320 is located between the first deck 130 and the third deck 150, and the driven lever 360 is mounted at a side of the first deck 130 facing away from the third deck 150. One end of the driven lever 360 is rotatably coupled to the case door 200, and the other end is rotatably coupled to the first laminate 130. The driving member 310 of the second door set is located on the side of the second deck 140 facing away from the third deck 150, the door shaft 320 is located between the second deck 140 and the third deck 150, and the driven lever 360 is mounted on the side of the second deck 140 facing away from the third deck 150. One end of the driven lever 360 is rotatably connected to the case door 200, and the other end is rotatably connected to the second laminate 140.

In some embodiments, a limit assembly 370 is provided on the first ply 130 and/or the second ply 140 for limiting the range of motion of the follower rod 360. Illustratively, the first laminate 130 is provided with a first stopper 371 and a second stopper 372, and when the driven lever 360 contacts the first stopper 371, the cabinet door 200 is opened to the maximum as shown in fig. 14; when the driven lever 360 contacts the second stopper 372, the case door 200 is closed as shown in fig. 21.

In some embodiments, the driven rod 360 is provided with bearings at both ends.

In a possible implementation manner, bearings are built in two ends of the driven rod 360, so that smooth rotation of the driven rod 360 is ensured.

For ease of understanding, the following details of the installation of the power box door structure of fig. 9-22 are described with respect to specific embodiments:

the motor and the position detector 342 are fixed on the fixed support 311, the fixed position of the position detector 342 is the simulated maximum door opening position and door closing position, the position detecting piece 341 is fixed on the motor output shaft, the motor rotates to drive the position detecting piece 341 to rotate, the position detector 342 is triggered when the motor rotates to a certain angle, the motor stops running, and the door correspondingly opens to the maximum or closes and locks. Finally, the flexible connector 350 is secured to the motor shaft.

The driving rod 330 and the case door 200 are fixed together through the first fixing adaptor 331 to form a case door assembly, the driving rod 330 is internally provided with a bearing, so that the case door 200 and the driving rod 330 rotate smoothly, and the driving rod 330 is fixed on the door shaft 320.

The box layer plate and the door shaft tail end fixing piece 321 are fixed on the box main support 110, the shell 120 is fixedly locked on the box main support 110 and the box layer plate, the driven rod 360 is fixed on the upper layer plate, the lower layer plate, namely the first layer plate 130 and the second layer plate 140 in advance, and the bearing is arranged in the driven rod 360, so that smooth rotation of the driven rod 360 is ensured. Related components such as a door shaft end fixing piece 321 are assembled on the box body laminate and the box body main support 110, and the door shaft end fixing piece 321 is internally provided with a bearing, so that smooth rotation of the door shaft 320 is ensured.

The case door assembly with the door shaft 320 is inserted into the bearing of the door shaft end fixing member 321, the door shaft 320 is stepped, and the motor with the flexible connector 350 is inserted into the other end of the door shaft 320 from the top down, locking the motor and the fixing bracket 311.

The driving motor stops after running to 0 position, wherein the 0 position can be a door closing position or a door opening position, and the rotation direction of the motor is required to be consistent with the door opening and closing direction during running.

The door shaft 320 is rotated to place the door in an opened or closed state, the flexible connector 350 is locked, and finally the driven lever 360 is fixed with the cabinet door 200 through the second fixing transferring member 361, thereby completing the assembly of the cabinet door.

Starting motor debugging, checking the door opening and closing state, and if a gap or a condition of loose closing exists, only needing to loosen the fixing screw of the flexible connector 350, finely adjusting the angle or the height of the lower box door 200, and then locking.

Compared with the prior art, the electric box door provided by the embodiment of the utility model has the advantages that the structure is simple to assemble, the door gap and the door closing are easier to control, the resistance for opening and closing the door is small, and the door opening and closing are easier.

In a second aspect, embodiments of the present utility model also provide a robot comprising a power box door structure as in any of the embodiments of the first aspect.

It will be apparent to those skilled in the art that various modifications and variations can be made to the embodiments of the present utility model without departing from the spirit and scope of the utility model. Thus, it is intended that the present utility model also include such modifications and alterations insofar as they come within the scope of the appended claims or the equivalents thereof.

Claims (10)

1. An electric cabinet door structure, comprising: the box body main support, the box body door and the driving mechanism arranged on the box body main support;

the driving mechanism comprises a driving piece, a door shaft, a driving rod and a position detection assembly;

the door shaft is rotatably arranged on the main box bracket; one end of the driving rod is fixed relative to the door shaft, and the other end of the driving rod is connected with the box door in a rotating way;

the driving piece is in transmission connection with the door shaft, and is used for driving the door shaft to rotate and driving the box door to rotate through the driving rod connected with the door shaft;

the position detection assembly is used for detecting the rotation angle of the door shaft.

2. The power box door structure of claim 1, wherein the position detecting assembly includes a position detecting tab mounted on the output shaft of the driving member and a position detector cooperating with the position detecting tab.

3. A power box door structure according to claim 2, wherein the driving member is drivingly connected to the door spindle via a flexible connector.

4. The electric cabinet door structure according to claim 3, wherein the output shaft of the driving member, the flexible connector, and the position detecting piece are each provided with a flat structure, and positions of the flat structures on the flexible connector and the position detecting piece correspond to positions of the flat structures on the output shaft of the driving member.

5. The electric cabinet door structure according to claim 1, wherein the driving lever is fixed to a middle portion of the door shaft; and/or the number of the groups of groups,

the driving rod is connected with the box door through a first fixed adapter, and a bearing used for being rotationally connected with the first fixed adapter is arranged on the driving rod.

6. The electric cabinet door structure according to claim 1, wherein the cabinet doors are the same in number as the driving mechanisms, and the cabinet doors are provided in one-to-one correspondence with the driving mechanisms.

7. The power box door structure according to any one of claims 1 to 6, further comprising a box deck mounted to the box main bracket, the box deck including first and second deck plates disposed in parallel and spaced apart relation, the door shaft being located between the first and second deck plates;

the driving piece is connected with the box body main bracket and the first laminate through a fixed bracket; and/or the number of the groups of groups,

the driving piece is connected with the box body main support and the second layer plate through the fixing support.

8. The power box door structure of claim 7, wherein the box deck further comprises a third deck, and the third deck is located between the first deck and the second deck;

the door shaft is positioned in the door shaft between the first layer plate and the third layer plate, the door shaft is connected with the main box bracket and the third layer plate through the door shaft tail end fixing piece, and the door shaft is rotationally connected with the door shaft tail end fixing piece through a bearing;

the door shaft is positioned in the door shaft between the third layer plate and the second layer plate, the door shaft is connected with the box body main support and the third layer plate through the door shaft tail end fixing piece, and the door shaft is rotatably connected with the door shaft tail end fixing piece through a bearing.

9. The power box door structure according to claim 7, wherein the driving mechanism further comprises a driven lever, one end of the driven lever is rotatably connected to the box door, and the other end is rotatably connected to the first laminate when the driving member is mounted to the first laminate; when the driving piece is installed on the second layer plate, one end of the driven rod is rotatably connected with the box door, and the other end of the driven rod is rotatably connected with the second layer plate.

10. A robot comprising a power box door structure according to any one of claims 1-9.